Jetson Nano witth Jetpack4.6 Install Torch, Torch Vision and ROS
Jetson Nano witth Jetpack4.6 Install Torch, Torch Vision and ROS
- 0 镜像文件写入microSD卡
-
- 0.1 先给microSD卡格式化
- 0.2 使用软件将镜像文件写入microSD卡
- 1 ubuntu流程（略）
- 2 开机后环境配置
-
- 2.1 配置CUDA
- 2.2 update system and install depends
- 2.3 Jestin nano 刷机后环境初始化
- 3 Tensorflow and pytorch安装
-
- 3.1 tensorflow 安装链接
- 3.2 安装torch
- 3.3 安装torchvision
- 4 archiconda3
- 5 Install the ROS System
- 6 安装opencv (jetpack>=4.5 don't need it)
- 7 Jetson Nano 更换镜像源
- 8 Jetson Nano 版本对应
-
- 8.1 JetPack与Pytorch版本
- 8.2 PyTorch与TorchVision版本
JetPack4.5下载链接
0 镜像文件写入microSD卡
0.1 先给microSD卡格式化
格式化文件：
SD Card Formatter：SD Card Formatter下载传送点
0.2 使用软件将镜像文件写入microSD卡
任选其一：
（1）balena：https://www.balena.io/etcher/
（2）win32diskimager:https://sourceforge.net/projects/win32diskimager/
1 ubuntu流程（略）
2 开机后环境配置
2.1 配置CUDA
# open环境变量：
vim ~/.bashrc #或者采用 source gedit ~/.bashrc
#在最后写入并保存：
export CUDA_HOME=/usr/local/cuda
export PATH=$PATH:$CUDA_HOME/bin
export LD_LIBRARY_PATH=/usr/local/cuda-10.0/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
#使其生效：
source ~/.bashrc
#查看是否生效：
cat /proc/driver/nvidia/version
nvcc -V
2.2 update system and install depends
sudo apt-get update
sudo apt-get install libhdf5-serial-dev hdf5-tools zlib1g-dev zip libjpeg8-dev libhdf5-dev python3-pip python-h5py
2.3 Jestin nano 刷机后环境初始化
分别执行以下命令，即可查看自己的jetson nano 预搭载的CUDA版本
sudo pip3 install jetson-stats
sudo jtop
3 Tensorflow and pytorch安装
3.1 tensorflow 安装链接
快速安装链接:https://developer.download.nvidia.com/compute/redist/jp/v42/tensorflow-gpu/
Tensorflow for Jetson Nano
#install tensorflow
sudo pip install --ignore-installed --upgrade tensorflow_gpu-1.3.0-cp36-cp36m-linux_x86_64.whl
3.2 安装torch
pytorch快速安装链接:官网whl链接
wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.7.0-cp36-cp36m-linux_aarch64.whl
sudo apt-get install python3-pip libopenblas-base libopenmpi-dev
pip3 install Cython
pip3 install numpy torch-1.7.0-cp36-cp36m-linux_aarch64.whl
3.3 安装torchvision
（官网github源码下载）
$ sudo apt-get install libjpeg-dev zlib1g-dev libpython3-dev libavcodec-dev libavformat-dev libswscale-dev
$ git clone --branch v0.8.1 https://ghproxy.com/https://github.com/pytorch/vision torchvision # see below for version of torchvision to download
$ cd torchvision
$ export BUILD_VERSION=0.8.1 # where 0.x.0 is the torchvision version
$ python3 setup.py install --user #long time for it
$ cd ../ # attempting to load torchvision from build dir will result in import error
$ pip install 'pillow<7' # always needed for Python 2.7, not needed torchvision v0.5.0+ with Python 3.6
#换成码云下载torchvision
$ git clone --branch v0.8.1 https://gitee.com/zero-one-game/vision
指定镜像安装pillow
sudo apt-get install libjpeg8 libjpeg62-dev libfreetype6 libfreetype6-dev
python3 -m pip install -i https://mirrors.aliyun.com/pypi/simple pillow
4 archiconda3
https://github.com/yqlbu/archiconda3
#open the file
vim ~/.bashrc
#archiconda3
export PATH="/home/klx/archiconda3/bin:$PATH"
#update the file
source ~/.bashrc
5 Install the ROS System
#enable all Ubuntu packages:
$ sudo apt-add-repository universe
$ sudo apt-add-repository multiverse
$ sudo apt-add-repository restricted
#add ROS repository to apt sources
$ sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
#install ROS Base
$ sudo apt-get update
$ sudo apt-get install ros-melodic-ros-base
#add ROS paths to environment
sudo sh -c 'echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc'
6 安装opencv (jetpack>=4.5 don’t need it)
安装opencv依赖项，用aptitude来进行操作：
# Update
sudo apt-get update
sudo apt-get upgrade
# Pre-requisites
sudo aptitude install build-essential cmake unzip pkg-config
sudo aptitude install libjpeg-dev libpng-dev libtiff-dev
sudo aptitude install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev
sudo aptitude install libxvidcore-dev libx264-dev
#下面这个会告诉你有冲突项，你第一次选择n，第二次之后选择y即可
sudo aptitude install libgtk-3-dev
sudo aptitude install libatlas-base-dev gfortran
sudo aptitude install python3-dev
1.首先扩大jetson nano的内存，因为要下载opencv的源码并编译，之后还要安装tensorflow，所以可能内存不够大，要增加内存。可以进入github：https://github.com/JetsonHacksNano查看并下载
或者直接在命令行操作
git clone https://github.com/JetsonHacksNano/installSwapfile
./installSwapfile.sh #编译文件，默认扩大6G内存
2.下载编译opencv
git clone https://github.com/JetsonHacksNano/buildOpenCV
./buildOpenCV.sh #编译opencv
或者 pip3 install opencv-python
3.测试
python3
import cv2
cv2.__version__
- The second method:
sudo apt-get install python3-opencv - The third method:https://www.jianshu.com/p/99bdc2472423
Jetson Nano使用教程：
（1）http://www.yoyojacky.com/?p=513
7 Jetson Nano 更换镜像源
orign镜像源
# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic main restricted
## Major bug fix updates produced after the final release of the
## distribution.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-updates main restricted
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic universe
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-updates universe
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team, and may not be under a free licence. Please satisfy yourself as to
## your rights to use the software. Also, please note that software in
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic multiverse
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-updates multiverse
## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb http://archive.canonical.com/ubuntu bionic partner
# deb-src http://archive.canonical.com/ubuntu bionic partner
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security universe
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security multiverse
1、更换
NVIDIA官方提供的Linux镜像版本为Ubuntu 18.04 LTS，镜像默认的是Ubuntu官方源，在国内使用该源下载程序速度较慢，所以需要更换。
打开/etc/apt/sources.list文件，注释原内容，在末尾添加下述内容（以清华大学镜像源为例，注意镜像源需要支持arm64架构）：
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
2、其他镜像源
下面提供了国内几个支持arm64架构的Ubuntu镜像源：
清华大学镜像源：
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
中国科学技术大学镜像源：
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb http://mirrors.ustc.edu.cn/ubuntu-ports bionic main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports bionic main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports bionic-updates main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports bionic-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports bionic-backports main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports bionic-backports main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports bionic-security main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports bionic-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb http://mirrors.ustc.edu.cn/ubuntu-ports bionic-proposed main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports bionic-proposed main restricted universe multiverse
阿里巴巴镜像站：
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.aliyun.com/ubuntu-ports/ bionic main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ bionic main restricted universe multiverse
deb https://mirrors.aliyun.com/ubuntu-ports/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb https://mirrors.aliyun.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/s bionic-backports main restricted universe multiverse
deb https://mirrors.aliyun.com/ubuntu-ports/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ bionic-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.aliyun.com/ubuntu-ports/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ bionic-proposed main restricted universe multiverse
3、系统更新
系统源和软件源配置完成以后，使用下述两条命令更新：
sudo apt update
sudo apt upgrade -y
8 Jetson Nano 版本对应
8.1 JetPack与Pytorch版本
8.2 PyTorch与TorchVision版本
